WO2020035713A1 - Headlamp control method and headlamp control device - Google Patents

Headlamp control method and headlamp control device Download PDF

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Publication number
WO2020035713A1
WO2020035713A1 PCT/IB2018/001079 IB2018001079W WO2020035713A1 WO 2020035713 A1 WO2020035713 A1 WO 2020035713A1 IB 2018001079 W IB2018001079 W IB 2018001079W WO 2020035713 A1 WO2020035713 A1 WO 2020035713A1
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WO
WIPO (PCT)
Prior art keywords
headlamp
vehicle
operation mode
irradiation amount
headlamp control
Prior art date
Application number
PCT/IB2018/001079
Other languages
French (fr)
Japanese (ja)
Inventor
尾幡昌芳
蘆田隆
藤田真弥
Original Assignee
日産自動車株式会社
ルノー エス． ア． エス．
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日産自動車株式会社, ルノー エス． ア． エス． filed Critical 日産自動車株式会社
Priority to JP2020537063A priority Critical patent/JP7031750B2/en
Priority to PCT/IB2018/001079 priority patent/WO2020035713A1/en
Priority to US17/268,291 priority patent/US11981249B2/en
Priority to CN201880096246.XA priority patent/CN112533794B/en
Priority to RU2021106194A priority patent/RU2760074C1/en
Priority to EP18930170.8A priority patent/EP3838670B1/en
Publication of WO2020035713A1 publication Critical patent/WO2020035713A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/05—Special features for controlling or switching of the light beam
    • B60Q2300/054—Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/14—Other vehicle conditions

Definitions

  • the present invention relates to a headlamp control method and a headlamp control device.
  • Patent Document 1 a technique of avoiding giving glare to occupants and pedestrians of an oncoming vehicle and improving the recognition accuracy of these objects has been known.
  • the irradiation amount of the headlamp is set to an appropriate amount for the driver.
  • research on automatic driving has been actively conducted in recent years.
  • the irradiation amount of the headlamp in the automatic operation mode is adjusted to the irradiation amount of the headlamp in the manual operation mode, unnecessary energy is consumed in the automatic operation mode.
  • the reason is that, in the automatic driving mode, information around the vehicle is mainly detected by a visible light camera. This is because the sensitivity of the visible light camera to light is higher than the sensitivity of human eyes to light, so that the irradiation amount of the headlamp in the automatic operation mode may be smaller than the irradiation amount of the headlamp in the manual operation mode.
  • Patent Document 1 does not disclose any comparison between the headlamp irradiation amount in the automatic operation mode and the headlamp irradiation amount in the manual operation mode. It is not possible to suppress the energy related to the irradiation of the headlamp in the mode.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a headlamp control method and a headlamp control device capable of suppressing energy related to irradiation of a headlamp in an automatic operation mode. .
  • the headlamp control method reduces the irradiation amount of the headlamp in the automatic operation mode from the irradiation amount of the headlamp in the manual operation mode.
  • the present invention it is possible to suppress energy related to irradiation of the headlamp in the automatic operation mode.
  • FIG. 1 is a schematic configuration diagram of a headlamp control system according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device.
  • FIG. 4 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • FIG. 5 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device.
  • FIG. 6 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • FIG. 1 is a schematic configuration diagram of a headlamp control system according to an embodiment of the present invention.
  • FIG. 2 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an example of a headlamp control process performed by
  • FIG. 7 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • FIG. 8 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device.
  • FIG. 9 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device.
  • FIG. 10 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device.
  • FIG. 11 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
  • the headlamp control system 100 includes a headlamp control device 1, a headlamp 3, a visible light camera 5, an automatic driving ECU 7, and a human interface 9. Further, the headlamp control system 100 is mounted on a vehicle capable of automatic driving.
  • the headlamp 3 is a headlamp, such as an intelligent headlamp or an adaptive high beam, whose light distribution can be adjusted according to the road conditions ahead of the vehicle.
  • a plurality of light sources represented by LEDs are arranged in a matrix.
  • the light distribution is adjusted by controlling the individual light sources. In this manner, the headlamp 3 can control the irradiation amount at each irradiation position that divides the irradiation range in front of the vehicle into a matrix.
  • the light source that irradiates the position of the oncoming vehicle is turned off, so that light is not emitted only at the position of the oncoming vehicle and light is emitted to other irradiation areas. Can be irradiated.
  • the headlamp 3 is mounted on left and right portions in front of the vehicle.
  • the visible light camera 5 is a camera having an image pickup device such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS).
  • the visible light camera 5 is mounted on the vehicle, captures an image of the surroundings of the vehicle, and outputs the captured image to the automatic driving ECU 7 and the headlamp control device 1. Since the visible light camera 5 has high sensitivity to light, the visible light camera 5 can detect an obstacle existing around the vehicle even if the brightness is lower than the brightness required when the driver performs manual driving. is there.
  • the automatic driving ECU 7 is an ECU (Electronic Control Unit) that executes automatic driving control of the vehicle.
  • the automatic driving ECU 7 acquires a sensor value from a millimeter wave radar, a laser range finder (not shown) or the like (not shown) in addition to the image acquired from the visible light camera 5, and pedestrians and other vehicles existing around the vehicle. Detect obstacles.
  • the automatic driving ECU 7 is also connected to a sensor group (not shown) mounted on the vehicle. For example, it is connected to an accelerator sensor, a steering sensor, a brake sensor, a vehicle speed sensor, and the like, and can also acquire a sensor value output from a group of these sensors.
  • the automatic driving ECU 7 acquires the position information of the vehicle from the GPS receiver mounted on the vehicle, and executes the automatic driving control with reference to the map information stored in the car navigation device. Therefore, the automatic driving executed by the automatic driving ECU 7 is an automatic driving without a driver's intervention, and is an automatic driving of level 3 or higher.
  • the automatic driving performed by the automatic driving ECU 7 is performed based on at least an image acquired by the visible light camera 5 that captures an image around the vehicle.
  • the automatic driving performed by the automatic driving ECU 7 may be performed based on an image obtained by the visible light camera 5 and data obtained by the sensor group.
  • a mode in which the vehicle is driven based on an image acquired by the visible light camera 5 that captures an image around the vehicle may be referred to as an automatic driving mode.
  • a mode in which the vehicle is driven by a driver may be referred to as a manual driving mode.
  • the human interface 9 is an input device that receives an operation by a vehicle occupant (including a driver), and is, for example, a display configured with a touch panel, a steering switch provided on a steering wheel, and the like. Switching between the automatic driving mode and the manual driving mode is input from the occupant of the vehicle via the human interface 9, or a warning is output to the occupant of the vehicle.
  • the headlamp control device 1 is a controller that controls the headlamp 3 and, for example, executes control to adjust the light distribution of the headlamp 3. Specifically, the headlamp control device 1 acquires an image from the visible light camera 5 and acquires, from the automatic driving ECU 7, detection information of an obstacle and information necessary for the automatic driving mode. The information acquired by the headlamp control device 1 includes a sensor value such as a vehicle speed. Then, the headlamp control device 1 controls the irradiation amount of the headlamp 3 according to the road conditions ahead of the vehicle and adjusts the light distribution.
  • the headlamp control device 1 includes a control unit that processes data acquired from the visible light camera 5 and the automatic driving ECU 7, and is configured by, for example, an IC, an LSI, and the like.
  • the headlamp control device 1 may be an ECU that controls the headlamp 3.
  • the headlamp control device 1 may be categorized into the headlamp control unit 11 when functionally grasping this.
  • the headlamp control device 1 may be constituted by a peripheral device such as a microcomputer, a microprocessor, a general-purpose electronic circuit including a CPU, and a memory. Each function of such a headlamp control device 1 is executed by one or a plurality of processing circuits.
  • the processing circuit may include a programmed processing device, such as a processing device including an electrical circuit.
  • the processing circuitry may include application specific integrated circuits (ASICs) arranged to perform the functions described in the embodiments, conventional circuit components, and the like.
  • ASICs application specific integrated circuits
  • the headlamp controller 11 determines whether the vehicle mode is the automatic driving mode or the manual driving mode by the driver of the vehicle based on the information acquired from the automatic driving ECU 7. When the mode of the vehicle is the automatic driving mode, the headlamp control unit 11 controls the headlamp 3 so that the irradiation amount becomes necessary for the automatic driving mode. When the mode of the vehicle is the manual driving mode, the headlamp control unit 11 may control the headlamp 3 so as to be a normal low beam or high beam. The headlamp 3 may be controlled so as to be as follows. The irradiation amount required for the automatic operation mode may be set according to the result of an experiment or a simulation. Similarly, the optimal dose for the manual operation mode may be set according to the result of an experiment or a simulation. Further, the irradiation amount may be changed according to the type and size of the vehicle.
  • step S101 shown in FIG. 2 the headlamp controller 11 determines whether the vehicle mode is the automatic driving mode based on the information acquired from the automatic driving ECU 7.
  • the process proceeds to step S103 (Yes in step S101).
  • the process proceeds to step S105 (No in step S101).
  • step S103 the headlamp controller 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode.
  • the automatic driving function is off.
  • the mode of the vehicle is the manual driving mode by the driver.
  • the irradiation amount of the head lamp 3 in the manual operation mode is set to the optimum irradiation amount as described above.
  • the mode of the vehicle shifts from the manual driving mode to the automatic driving mode. As shown in FIG.
  • the headlamp control unit 11 changes the irradiation amount of the headlamp 3 to the headlamp 3 in the manual driving mode. Than the irradiation amount.
  • the automatic driving performed by the automatic driving ECU 7 is performed based on the image acquired by the visible light camera 5. Since the sensitivity of the visible light camera 5 to light is higher than the sensitivity of human eyes to light, when the irradiation amount of the headlamp 3 in the automatic operation mode is adjusted to the irradiation amount of the headlamp 3 in the manual operation mode, Unnecessary energy is consumed in the operation mode.
  • the headlamp control unit 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode. Thereby, the headlamp controller 11 can suppress the irradiation amount of the headlamp 3. In other words, the headlamp control unit 11 can suppress the energy related to the irradiation of the headlamp 3 in the automatic operation mode.
  • the headlamp controller 11 does not change the irradiation amount of the headlamp 3.
  • the headlamp controller 11 may synchronize the timing of switching the headlamp 3 on and off with the frame rate of the visible light camera 5. This point will be described with reference to FIGS.
  • Step S201 shown in FIG. 4 is the same as step S101 shown in FIG.
  • the headlamp controller 11 acquires the frame rate of the visible light camera 5.
  • the frame rate of the visible light camera 5 refers to the number of frames processed by the visible light camera 5 per unit time.
  • the frame rate of the visible light camera 5 is not particularly limited, but is set to several tens Hz.
  • the visible light camera 5 repeatedly turns on and off according to a preset frame rate. Since the visible light camera 5 senses light when it is on, the headlamp 3 only needs to emit light when the visible light camera 5 is on. In other words, the headlamp 3 does not have to emit light when the visible light camera 5 is off. Therefore, as shown in FIG.
  • the headlamp controller 11 may synchronize the timing of switching the headlamp 3 on and off with the frame rate of the visible light camera 5 (step S205 shown in FIG. 4). Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3.
  • the timing of switching the headlamp 3 on and off may be expressed as the timing of switching the headlamp 3 on and off.
  • step S207 shown in FIG. 4 is the same as step S105 shown in FIG. 2, and a description thereof will be omitted.
  • the headlamp controller 11 may further reduce the irradiation amount of the headlamp 3 based on a situation around the vehicle. This will be described with reference to FIG.
  • Step S301 shown in FIG. 6 is the same as step S101 shown in FIG.
  • the headlamp control unit 11 acquires the illuminance around the vehicle based on information acquired from the visible light camera 5 or an illuminance sensor (not shown) mounted on the vehicle.
  • the illuminance around the vehicle increases as the number of road lights around the vehicle increases. Further, the more other vehicles exist around the vehicle, the greater the illuminance around the vehicle.
  • the headlamp control unit 11 may further reduce the irradiation amount in the automatic driving mode when the illuminance around the vehicle is large compared to when the illuminance is small. Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3.
  • the headlamp control unit 11 may reduce the irradiation range of the headlamp 3 when the illuminance around the vehicle is large compared to when the illuminance is small. For example, when the road light is illuminating a sign above the vehicle, the headlamp 3 need not illuminate this sign. As described above, the headlamp controller 11 can further reduce the energy related to the irradiation of the headlamp 3 by reducing the irradiation range of the headlamp 3.
  • the headlamp control unit 11 may control the headlamp 3 according to the illuminance around the vehicle.
  • the illuminance around the vehicle includes the characteristics (color, reflectance, etc.) of the sign.
  • the headlamp controller 11 may increase the irradiation range of the headlamp 3 according to the characteristics (color, reflectance, etc.) of the sign.
  • the headlamp controller 11 may increase the irradiation amount of the headlamp 3 when increasing the irradiation range of the headlamp 3. Accordingly, the headlamp control unit 11 can provide an optimum irradiation range and irradiation amount for the driver.
  • the headlamp control unit 11 may control the irradiation amount of the headlamp 3 according to whether or not there is a failure in the automatic operation mode. This will be described with reference to FIGS.
  • Steps S401, 403, and 409 shown in FIG. 7 are the same as steps S101, 103, and 105 shown in FIG.
  • the headlamp control unit 11 detects whether there is a failure in the automatic operation mode. Failure in the automatic operation mode refers to a state in which automatic operation is not normally performed.
  • the process proceeds to step S407, and a transition from the automatic operation mode to the manual operation mode is performed. This transition may be announced by voice, for example, "An error has occurred in automatic operation. Please switch to manual operation.” Such guidance is performed in consideration of the time required for the transition.
  • a warning (transition) is provided, and the headlamp control unit 11 transitions from the automatic operation mode to the manual operation mode.
  • the headlamp controller 11 sets the irradiation amount to be the same as the irradiation amount in the manual operation mode until the transition from the automatic operation mode to the manual operation mode is completed.
  • the driver can accurately grasp the situation around the vehicle until the transition from the automatic driving mode to the manual driving mode is completed.
  • the operation example at times T1 and T2 shown in FIG. 8 is the same as the operation example shown in FIG.
  • a warning such as "Please check at a dealer" may be displayed on the display until the failure in the automatic driving mode is resolved.
  • the headlamp controller 11 sets the irradiation amount to the same as the irradiation amount in the manual operation mode until the transition from the automatic operation mode to the manual operation mode is completed, but the invention is not limited to this.
  • the headlamp controller 11 may set the irradiation amount to be larger than the irradiation amount in the automatic operation mode until the transition from the automatic operation mode to the manual operation mode is completed.
  • the headlamp controller 11 may set the irradiation amount when the transition from the automatic operation mode to the manual operation mode is completed (time T4) to be the same as the irradiation amount in the manual operation mode. If the irradiation amount of the headlamp 3 suddenly increases during the transition, the driver may feel dazzling. Therefore, as shown in FIG. 9, by increasing the irradiation amount in two stages, the uncomfortable feeling felt by the driver can be reduced.
  • the headlamp control unit 11 may gradually increase the irradiation amount until the transition from the automatic operation mode to the manual operation mode is completed.
  • the headlamp controller 11 sets the irradiation amount at the time when the transition from the automatic operation mode to the manual operation mode is completed (time T4) to be the same as the irradiation amount in the manual operation mode. Good.
  • the headlamp controller 11 may control the irradiation amount of the headlamp 3 according to whether the preceding vehicle is a large vehicle. This will be described with reference to FIG.
  • Steps S501, 509, and 511 shown in FIG. 11 are the same as steps S101, 103, and 105 shown in FIG.
  • the headlamp control unit 11 determines whether or not there is a preceding vehicle traveling ahead of the vehicle based on information acquired from the visible light camera 5 or the sensor group. If there is a preceding vehicle (Yes in step S503), the process proceeds to step S505. On the other hand, when there is no preceding vehicle (No in step S503), the process proceeds to step S509. In step S505, the headlamp control unit 11 determines whether the preceding vehicle is a large vehicle (for example, a truck).
  • a large vehicle for example, a truck
  • step S509 the headlamp control unit 11 reduces the irradiation amount of the headlamp 3.
  • the fact that the preceding vehicle is not a large vehicle means that the preceding vehicle is a normal vehicle.
  • the reason why the headlamp controller 11 reduces the irradiation amount of the headlamp 3 is to prevent the driver of the preceding vehicle from feeling glare. If the preceding vehicle is a large vehicle (Yes in step S505), the process proceeds to step S507, and the automatic driving ECU 7 increases the inter-vehicle distance.
  • the headlamp control device 1 As described above, according to the headlamp control device 1 according to the present embodiment, the following operational effects can be obtained.
  • the vehicle according to the present embodiment has an automatic driving mode that is driven based on an image obtained by the visible light camera 5 that captures an image around the vehicle, and a manual driving mode that is driven by a driver of the vehicle. Since the sensitivity of the visible light camera 5 to light is higher than the sensitivity of human eyes to light, when the irradiation amount of the headlamp 3 in the automatic operation mode is adjusted to the irradiation amount of the headlamp 3 in the manual operation mode, Unnecessary energy is consumed in the operation mode. Therefore, the headlamp control unit 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode. Thereby, the headlamp controller 11 can suppress the irradiation amount of the headlamp 3. In other words, the headlamp control unit 11 can suppress the energy related to the irradiation of the headlamp 3 in the automatic operation mode.
  • the headlamp controller 11 may detect whether there is a failure in the automatic operation mode. When a failure in the automatic operation mode is detected, the headlamp controller 11 may increase the irradiation amount from the automatic operation mode until the transition from the automatic operation mode to the manual operation mode is completed. If the irradiation amount of the headlamp 3 suddenly increases during the transition, the driver may feel dazzling. Therefore, by performing such control of the irradiation amount, the uncomfortable feeling felt by the driver can be reduced. Further, the driver can accurately grasp the situation around the vehicle when the transition from the automatic driving mode to the manual driving mode is completed.
  • the headlamp control unit 11 may synchronize the on / off of the headlamp 3 with the frame rate of the visible light camera 5.
  • the visible light camera 5 repeats on and off according to a preset frame rate. Since the visible light camera 5 senses light when it is on, the headlamp 3 only needs to emit light when the visible light camera 5 is on. Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3.
  • the headlamp controller 11 may reduce the irradiation amount of the headlamp 3 when the illuminance around the vehicle is large as compared to when the illuminance is small.
  • the automatic driving ECU 7 can use the light around the vehicle to detect an obstacle. Therefore, by performing such irradiation amount control, the headlamp control unit 11 Energy related to irradiation of the headlamp 3 can be further suppressed.
  • the processing circuit includes a programmed processing device, such as a processing device that includes an electrical circuit.
  • Processing circuitry also includes devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Further, the headlamp control device 1 can improve the function of the computer.
  • ASICs application specific integrated circuits
  • the irradiation range required for the automatic operation mode described above may be an irradiation range that can detect an obstacle existing in a range where safety confirmation needs to be performed when executing the automatic operation mode.
  • the irradiation range required for the automatic operation mode may be set to be wider than the irradiation range of the low beam, and may be set to the same irradiation range as the high beam.
  • the low beam since the irradiation range is downward, light may not be sufficiently irradiated on the pedestrian or other obstacles, and it may not be possible to sufficiently detect obstacles required for performing the automatic driving mode. That's why.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

This headlamp control device (1) has a headlamp controller (11) which controls a lumen-adjustable headlamp (3) that is mounted in a vehicle having an autonomous driving mode in which the vehicle is driven on the basis of an image acquired by a visible light camera (5) for imaging the surroundings of the vehicle and a manual driving mode in which the vehicle is driven by the driver of the vehicle. The headlamp controller (11) reduces the lumen of the headlamp (3) in the autonomous driving mode compared to the lumen of the headlamp (3) in the manual driving mode.

Description

ヘッドランプ制御方法及びヘッドランプ制御装置Headlamp control method and headlamp control device
　本発明は、ヘッドランプ制御方法及びヘッドランプ制御装置に関する。 The present invention relates to a headlamp control method and a headlamp control device.
　従来より、ヘッドランプの制御方法として、対向車の乗員、歩行者などにまぶしさを与えることを回避し、これらの対象物の認識精度を向上させる技術が知られている（特許文献１）。 Conventionally, as a method of controlling a headlamp, a technique of avoiding giving glare to occupants and pedestrians of an oncoming vehicle and improving the recognition accuracy of these objects has been known (Patent Document 1).
特開２０１２−１７１４９９号公報JP 2012-171499 A
　一般にヘッドランプの照射量は運転者にとって適切な量に設定されている。一方、近年では自動運転に関する研究が盛んに行われている。自動運転モード時のヘッドランプの照射量を手動運転モード時のヘッドランプの照射量に合わせた場合、自動運転モード時には不要なエネルギーが消費されてしまう。その理由は、自動運転モード時には、車両の周囲の情報は、主に可視光カメラによって検出されている。可視光カメラの光に対する感度は、人間の目の光に対する感度より高いため、自動運転モード時のヘッドランプの照射量は手動運転モード時のヘッドランプの照射量より少なくても足りるからである。しかしながら、特許文献１には、自動運転モード時のヘッドランプの照射量と手動運転モード時のヘッドランプの照射量との比較について何ら記載がないため、特許文献１に記載された発明では自動運転モード時のヘッドランプの照射に係るエネルギーを抑制することはできない。 In general, the irradiation amount of the headlamp is set to an appropriate amount for the driver. On the other hand, research on automatic driving has been actively conducted in recent years. When the irradiation amount of the headlamp in the automatic operation mode is adjusted to the irradiation amount of the headlamp in the manual operation mode, unnecessary energy is consumed in the automatic operation mode. The reason is that, in the automatic driving mode, information around the vehicle is mainly detected by a visible light camera. This is because the sensitivity of the visible light camera to light is higher than the sensitivity of human eyes to light, so that the irradiation amount of the headlamp in the automatic operation mode may be smaller than the irradiation amount of the headlamp in the manual operation mode. However, Patent Document 1 does not disclose any comparison between the headlamp irradiation amount in the automatic operation mode and the headlamp irradiation amount in the manual operation mode. It is not possible to suppress the energy related to the irradiation of the headlamp in the mode.
　本発明は、上記問題に鑑みて成されたものであり、その目的は、自動運転モード時のヘッドランプの照射に係るエネルギーを抑制できるヘッドランプ制御方法及びヘッドランプ制御装置を提供することである。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a headlamp control method and a headlamp control device capable of suppressing energy related to irradiation of a headlamp in an automatic operation mode. .
　本発明の一態様に係るヘッドランプ制御方法は、自動運転モード時のヘッドランプの照射量を、手動運転モード時のヘッドランプの照射量より低減させる。 ヘ ッ ド The headlamp control method according to one embodiment of the present invention reduces the irradiation amount of the headlamp in the automatic operation mode from the irradiation amount of the headlamp in the manual operation mode.
　本発明によれば、自動運転モード時のヘッドランプの照射に係るエネルギーを抑制できる。 According to the present invention, it is possible to suppress energy related to irradiation of the headlamp in the automatic operation mode.
図１は、本発明の実施形態に係るヘッドランプ制御システムの概略構成図である。FIG. 1 is a schematic configuration diagram of a headlamp control system according to an embodiment of the present invention. 図２は、本発明の実施形態に係るヘッドランプ制御装置の一動作例を説明するフローチャートである。FIG. 2 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention. 図３は、ヘッドランプ制御装置によるヘッドランプ制御処理の一実施例について説明する図である。FIG. 3 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device. 図４は、本発明の実施形態に係るヘッドランプ制御装置の一動作例を説明するフローチャートである。FIG. 4 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention. 図５は、ヘッドランプ制御装置によるヘッドランプ制御処理の一実施例について説明する図である。FIG. 5 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device. 図６は、本発明の実施形態に係るヘッドランプ制御装置の一動作例を説明するフローチャートである。FIG. 6 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention. 図７は、本発明の実施形態に係るヘッドランプ制御装置の一動作例を説明するフローチャートである。FIG. 7 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention. 図８は、ヘッドランプ制御装置によるヘッドランプ制御処理の一実施例について説明する図である。FIG. 8 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device. 図９は、ヘッドランプ制御装置によるヘッドランプ制御処理の一実施例について説明する図である。FIG. 9 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device. 図１０は、ヘッドランプ制御装置によるヘッドランプ制御処理の一実施例について説明する図である。FIG. 10 is a diagram illustrating an example of a headlamp control process performed by the headlamp control device. 図１１は、本発明の実施形態に係るヘッドランプ制御装置の一動作例を説明するフローチャートである。FIG. 11 is a flowchart illustrating an operation example of the headlamp control device according to the embodiment of the present invention.
　以下、本発明の実施形態について、図面を参照して説明する。図面の記載において同一部分には同一符号を付して説明を省略する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same portions are denoted by the same reference numerals, and description thereof will be omitted.
［ヘッドランプ制御システムの構成］
　図１を参照して、本実施形態に係るヘッドランプ制御装置１を備えたヘッドランプ制御システム１００の構成を説明する。図１に示すように、ヘッドランプ制御システム１００は、ヘッドランプ制御装置１と、ヘッドランプ３と、可視光カメラ５と、自動運転ＥＣＵ７と、ヒューマンインターフェース９とを備える。また、ヘッドランプ制御システム１００は自動運転が可能な車両に搭載されている。 [Configuration of headlamp control system]
With reference to FIG. 1, a configuration of a headlamp control system 100 including a headlamp control device 1 according to the present embodiment will be described. As shown in FIG. 1, the headlamp control system 100 includes a headlamp control device 1, a headlamp 3, a visible light camera 5, an automatic driving ECU 7, and a human interface 9. Further, the headlamp control system 100 is mounted on a vehicle capable of automatic driving.
　ヘッドランプ３は、インテリジェントヘッドランプやアダプティブハイビームなどのように、車両の前方の道路状況に応じて配光を調整可能なヘッドランプである。具体的に、ヘッドランプ３には、ＬＥＤ（Ｌｉｇｈｔ　Ｅｍｉｔｔｉｎｇ　Ｄｉｏｄｅ）に代表される複数の光源がマトリクス状に配置されている。個々の光源が制御されることによって、配光が調整されている。このようにヘッドランプ３は、車両の前方の照射範囲をマトリクス状に区切った各照射位置の照射量をそれぞれ制御することができる。例えば、車両の前方に対向車が接近している場合には、対向車の位置に照射する光源を消灯することによって、対向車の位置だけ光を照射せずに、その他の照射範囲には光を照射することができる。ヘッドランプ３は、特に限定されないが、車両前方の左右の部位に搭載される。 The headlamp 3 is a headlamp, such as an intelligent headlamp or an adaptive high beam, whose light distribution can be adjusted according to the road conditions ahead of the vehicle. Specifically, in the headlamp 3, a plurality of light sources represented by LEDs (Light Emitting Diode) are arranged in a matrix. The light distribution is adjusted by controlling the individual light sources. In this manner, the headlamp 3 can control the irradiation amount at each irradiation position that divides the irradiation range in front of the vehicle into a matrix. For example, when an oncoming vehicle is approaching in front of the vehicle, the light source that irradiates the position of the oncoming vehicle is turned off, so that light is not emitted only at the position of the oncoming vehicle and light is emitted to other irradiation areas. Can be irradiated. Although not particularly limited, the headlamp 3 is mounted on left and right portions in front of the vehicle.
　可視光カメラ５は、ＣＣＤ（Ｃｈａｒｇｅ−Ｃｏｕｐｌｅｄ　Ｄｅｖｉｃｅ）やＣＭＯＳ（Ｃｏｍｐｌｅｍｅｎｔａｒｙ　Ｍｅｔａｌ　Ｏｘｉｄｅ　Ｓｅｍｉｃｏｎｄｕｃｔｏｒ）などの撮像素子を有するカメラである。可視光カメラ５は、車両に搭載され、車両の周辺状況を撮像し、撮像した画像を自動運転ＥＣＵ７とヘッドランプ制御装置１に出力する。可視光カメラ５の光に対する感度は高いため、運転者が手動運転をする場合に必要となる明るさより暗くても、可視光カメラ５は車両の周囲に存在する障害物を検出することが可能である。 The visible light camera 5 is a camera having an image pickup device such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The visible light camera 5 is mounted on the vehicle, captures an image of the surroundings of the vehicle, and outputs the captured image to the automatic driving ECU 7 and the headlamp control device 1. Since the visible light camera 5 has high sensitivity to light, the visible light camera 5 can detect an obstacle existing around the vehicle even if the brightness is lower than the brightness required when the driver performs manual driving. is there.
　自動運転ＥＣＵ７は、車両の自動運転制御を実行するＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ　Ｃｏｎｔｒｏｌ　Ｕｎｉｔ）である。自動運転ＥＣＵ７は、可視光カメラ５から取得した画像の他にミリ波レーダやレーザーレンジファインダなど（図示せず）からのセンサ値を取得して、車両の周囲に存在する歩行者や他車両などの障害物を検出する。また、自動運転ＥＣＵ７は、車両に搭載されたセンサ群（図示せず）にも接続されている。例えば、アクセルセンサ、ステアリングセンサ、ブレーキセンサ、車速センサなどに接続され、これらのセンサ群から出力されるセンサ値も取得することができる。そして、自動運転ＥＣＵ７は、車両に搭載されたＧＰＳ受信機から車両の位置情報を取得し、カーナビゲーション装置に格納された地図情報を参照して自動運転制御を実行する。したがって、自動運転ＥＣＵ７が実行する自動運転は、運転者が介在することのない自動運転であり、レベル３以上の自動運転である。また、自動運転ＥＣＵ７が実行する自動運転は、少なくとも車両の周囲を撮像する可視光カメラ５により取得された画像に基づいて実行される。自動運転ＥＣＵ７が実行する自動運転は、可視光カメラ５により取得された画像と、センサ群により取得されたデータとに基づいて実行されてもよい。なお、以下では、車両のモードとして、車両の周囲を撮像する可視光カメラ５により取得された画像に基づき運転されるモードを、自動運転モードと呼ぶ場合がある。また、車両の運転者によって運転されるモードを、手動運転モードと呼ぶ場合がある。 The automatic driving ECU 7 is an ECU (Electronic Control Unit) that executes automatic driving control of the vehicle. The automatic driving ECU 7 acquires a sensor value from a millimeter wave radar, a laser range finder (not shown) or the like (not shown) in addition to the image acquired from the visible light camera 5, and pedestrians and other vehicles existing around the vehicle. Detect obstacles. The automatic driving ECU 7 is also connected to a sensor group (not shown) mounted on the vehicle. For example, it is connected to an accelerator sensor, a steering sensor, a brake sensor, a vehicle speed sensor, and the like, and can also acquire a sensor value output from a group of these sensors. Then, the automatic driving ECU 7 acquires the position information of the vehicle from the GPS receiver mounted on the vehicle, and executes the automatic driving control with reference to the map information stored in the car navigation device. Therefore, the automatic driving executed by the automatic driving ECU 7 is an automatic driving without a driver's intervention, and is an automatic driving of level 3 or higher. The automatic driving performed by the automatic driving ECU 7 is performed based on at least an image acquired by the visible light camera 5 that captures an image around the vehicle. The automatic driving performed by the automatic driving ECU 7 may be performed based on an image obtained by the visible light camera 5 and data obtained by the sensor group. Hereinafter, as the vehicle mode, a mode in which the vehicle is driven based on an image acquired by the visible light camera 5 that captures an image around the vehicle may be referred to as an automatic driving mode. A mode in which the vehicle is driven by a driver may be referred to as a manual driving mode.
　ヒューマンインターフェース９は、車両の乗員（運転者を含む）による操作を受け付ける入力装置であり、例えば、タッチパネルで構成されたディスプレイ、ステアリングホイールに設けられたステアリングスイッチなどである。ヒューマンインターフェース９を介して、車両の乗員から自動運転モードと手動運転モードとの切り替えが入力されたり、また車両の乗員に対して警告が出力されたりする。 The human interface 9 is an input device that receives an operation by a vehicle occupant (including a driver), and is, for example, a display configured with a touch panel, a steering switch provided on a steering wheel, and the like. Switching between the automatic driving mode and the manual driving mode is input from the occupant of the vehicle via the human interface 9, or a warning is output to the occupant of the vehicle.
　ヘッドランプ制御装置１はヘッドランプ３の制御を実行するコントローラであり、例えば、ヘッドランプ３の配光を調整する制御を実行する。具体的に、ヘッドランプ制御装置１は、可視光カメラ５から画像を取得し、自動運転ＥＣＵ７から障害物の検出情報、自動運転モードに必要な情報を取得する。ヘッドランプ制御装置１が取得する情報には車速などのセンサ値も含まれている。そして、ヘッドランプ制御装置１は、車両の前方の道路状況などに応じてヘッドランプ３の照射量を制御して配光を調整する。 The headlamp control device 1 is a controller that controls the headlamp 3 and, for example, executes control to adjust the light distribution of the headlamp 3. Specifically, the headlamp control device 1 acquires an image from the visible light camera 5 and acquires, from the automatic driving ECU 7, detection information of an obstacle and information necessary for the automatic driving mode. The information acquired by the headlamp control device 1 includes a sensor value such as a vehicle speed. Then, the headlamp control device 1 controls the irradiation amount of the headlamp 3 according to the road conditions ahead of the vehicle and adjusts the light distribution.
　ヘッドランプ制御装置１は、可視光カメラ５、自動運転ＥＣＵ７から取得したデータを処理する制御部を備えており、例えばＩＣ、ＬＳＩなどによって構成される。また、ヘッドランプ制御装置１は、ヘッドランプ３を制御するＥＣＵであってもよい。ヘッドランプ制御装置１は、これを機能的に捉えた場合、ヘッドランプ制御部１１に分類されてもよい。 The headlamp control device 1 includes a control unit that processes data acquired from the visible light camera 5 and the automatic driving ECU 7, and is configured by, for example, an IC, an LSI, and the like. The headlamp control device 1 may be an ECU that controls the headlamp 3. The headlamp control device 1 may be categorized into the headlamp control unit 11 when functionally grasping this.
　なお、ヘッドランプ制御装置１は、マイクロコンピュータ、マイクロプロセッサ、ＣＰＵを含む汎用の電子回路、メモリなどの周辺機器から構成されてもよい。このようなヘッドランプ制御装置１の各機能は、１または複数の処理回路によって実行される。処理回路は、例えば電気回路を含む処理装置などのプログラムされた処理装置を含んでもよい。また、処理回路は、実施形態に記載された機能を実行するようにアレンジされた特定用途向け集積回路（ＡＳＩＣ）、従来型の回路部品などを含んでもよい。 Note that the headlamp control device 1 may be constituted by a peripheral device such as a microcomputer, a microprocessor, a general-purpose electronic circuit including a CPU, and a memory. Each function of such a headlamp control device 1 is executed by one or a plurality of processing circuits. The processing circuit may include a programmed processing device, such as a processing device including an electrical circuit. Also, the processing circuitry may include application specific integrated circuits (ASICs) arranged to perform the functions described in the embodiments, conventional circuit components, and the like.
　ヘッドランプ制御部１１は、自動運転ＥＣＵ７から取得した情報に基づいて、車両のモードが自動運転モードであるのか、あるいは車両の運転者による手動運転モードであるのか判断する。そして、車両のモードが自動運転モードである場合には、ヘッドランプ制御部１１は、自動運転モードに必要な照射量となるようにヘッドランプ３を制御する。また、車両のモードが手動運転モードである場合には、ヘッドランプ制御部１１は、通常のロービームまたはハイビームとなるようにヘッドランプ３を制御してもよく、手動運転モードに最適な照射量となるようにヘッドランプ３を制御してもよい。なお、自動運転モードに必要な照射量については、実験またはシミュレーションの結果に応じて設定されてもよい。また同様に、手動運転モードに最適な照射量についても、実験またはシミュレーションの結果に応じて設定されてもよい。また、照射量は、車両の車種、大きさなどに応じて変更されてもよい。 The headlamp controller 11 determines whether the vehicle mode is the automatic driving mode or the manual driving mode by the driver of the vehicle based on the information acquired from the automatic driving ECU 7. When the mode of the vehicle is the automatic driving mode, the headlamp control unit 11 controls the headlamp 3 so that the irradiation amount becomes necessary for the automatic driving mode. When the mode of the vehicle is the manual driving mode, the headlamp control unit 11 may control the headlamp 3 so as to be a normal low beam or high beam. The headlamp 3 may be controlled so as to be as follows. The irradiation amount required for the automatic operation mode may be set according to the result of an experiment or a simulation. Similarly, the optimal dose for the manual operation mode may be set according to the result of an experiment or a simulation. Further, the irradiation amount may be changed according to the type and size of the vehicle.
　［ヘッドランプ制御処理］
　次に、図２及び図３を参照して、ヘッドランプ制御装置１によるヘッドランプ制御処理を説明する。 [Headlamp control processing]
Next, a headlamp control process performed by the headlamp controller 1 will be described with reference to FIGS.
　図２に示すステップＳ１０１において、ヘッドランプ制御部１１は、自動運転ＥＣＵ７から取得した情報に基づいて、車両のモードが自動運転モードであるか否かを判定する。車両のモードが自動運転モードである場合、処理はステップＳ１０３に進む（ステップＳ１０１でＹｅｓ）。一方、車両のモードが自動運転モードではなく、運転者による手動運転モードである場合、処理はステップＳ１０５に進む（ステップＳ１０１でＮｏ）。 In step S101 shown in FIG. 2, the headlamp controller 11 determines whether the vehicle mode is the automatic driving mode based on the information acquired from the automatic driving ECU 7. When the mode of the vehicle is the automatic driving mode, the process proceeds to step S103 (Yes in step S101). On the other hand, when the mode of the vehicle is not the automatic driving mode but the manual driving mode by the driver, the process proceeds to step S105 (No in step S101).
　ステップＳ１０３において、ヘッドランプ制御部１１は、自動運転モード時のヘッドランプ３の照射量を、手動運転モード時のヘッドランプ３の照射量より低減させる。この点について、図３を参照して説明する。図３に示すように、時刻Ｔ１より前において、自動運転機能はオフである。換言すれば、時刻Ｔ１より前において、車両のモードは運転者による手動運転モードである。手動運転モード時のヘッドランプ３の照射量は、上述したように最適な照射量に設定されている。時刻Ｔ１において、乗員がヒューマンインターフェース９を操作して、自動運転機能がオフからオンに切り替わった場合、車両のモードは手動運転モードから自動運転モードに移行する。図３に示すように、時刻Ｔ１において、車両のモードが手動運転モードから自動運転モードに移行したとき、ヘッドランプ制御部１１は、ヘッドランプ３の照射量を、手動運転モード時のヘッドランプ３の照射量より低減させる。上述したように、自動運転ＥＣＵ７が実行する自動運転は、可視光カメラ５により取得された画像に基づいて実行される。可視光カメラ５の光に対する感度は、人間の目の光に対する感度より高いため、自動運転モード時のヘッドランプ３の照射量を手動運転モード時のヘッドランプ３の照射量に合わせた場合、自動運転モード時に不要なエネルギーが消費されてしまう。そこで、ヘッドランプ制御部１１は、自動運転モード時のヘッドランプ３の照射量を手動運転モード時のヘッドランプ３の照射量より低減させる。これにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射量を抑制できる。換言すれば、ヘッドランプ制御部１１は、自動運転モードにおいてヘッドランプ３の照射に係るエネルギーを抑制できる。なお、ステップＳ１０５において、手動運転モード時、ヘッドランプ制御部１１は、ヘッドランプ３の照射量を変更しない。 In step S103, the headlamp controller 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode. This will be described with reference to FIG. As shown in FIG. 3, before the time T1, the automatic driving function is off. In other words, before the time T1, the mode of the vehicle is the manual driving mode by the driver. The irradiation amount of the head lamp 3 in the manual operation mode is set to the optimum irradiation amount as described above. At time T1, when the occupant operates the human interface 9 and the automatic driving function is switched from off to on, the mode of the vehicle shifts from the manual driving mode to the automatic driving mode. As shown in FIG. 3, at time T1, when the mode of the vehicle shifts from the manual driving mode to the automatic driving mode, the headlamp control unit 11 changes the irradiation amount of the headlamp 3 to the headlamp 3 in the manual driving mode. Than the irradiation amount. As described above, the automatic driving performed by the automatic driving ECU 7 is performed based on the image acquired by the visible light camera 5. Since the sensitivity of the visible light camera 5 to light is higher than the sensitivity of human eyes to light, when the irradiation amount of the headlamp 3 in the automatic operation mode is adjusted to the irradiation amount of the headlamp 3 in the manual operation mode, Unnecessary energy is consumed in the operation mode. Therefore, the headlamp control unit 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode. Thereby, the headlamp controller 11 can suppress the irradiation amount of the headlamp 3. In other words, the headlamp control unit 11 can suppress the energy related to the irradiation of the headlamp 3 in the automatic operation mode. In step S105, in the manual operation mode, the headlamp controller 11 does not change the irradiation amount of the headlamp 3.
　また、ヘッドランプ制御部１１は、ヘッドランプ３のオンオフを切り替えるタイミングを可視光カメラ５のフレームレートに同期させてもよい。この点について図４及び図５を用いて説明する。 The headlamp controller 11 may synchronize the timing of switching the headlamp 3 on and off with the frame rate of the visible light camera 5. This point will be described with reference to FIGS.
　図４に示すステップＳ２０１は、図２に示すステップＳ１０１と同じであるため、説明を省略する。ステップＳ２０３において、ヘッドランプ制御部１１は、可視光カメラ５のフレームレートを取得する。可視光カメラ５のフレームレートとは、可視光カメラ５が単位時間あたりに処理するフレーム数を指す。可視光カメラ５のフレームレートは、特に限定されないが、数１０Ｈｚに設定される。図５に示すように、可視光カメラ５は、予め設定されたフレームレートにしたがってオンとオフを繰り返す。可視光カメラ５はオン状態のときに光を感知するため、可視光カメラ５がオン状態のときにヘッドランプ３は光を照射すればよい。換言すれば、可視光カメラ５がオフ状態のときにヘッドランプ３は光を照射しなくてもよい。そこで、図５に示すように、ヘッドランプ制御部１１は、ヘッドランプ３のオンオフを切り替えるタイミングを可視光カメラ５のフレームレートに同期させてもよい（図４に示すステップＳ２０５）。これにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射に係るエネルギーをより一層抑制できる。なお、ヘッドランプ３のオンオフを切り替えるタイミングは、ヘッドランプ３の点灯と消灯とを切り替えるタイミングと表現されてもよい。なお、図４に示すステップＳ２０７は、図２に示すステップＳ１０５と同じであるため、説明を省略する。 Step S201 shown in FIG. 4 is the same as step S101 shown in FIG. In step S203, the headlamp controller 11 acquires the frame rate of the visible light camera 5. The frame rate of the visible light camera 5 refers to the number of frames processed by the visible light camera 5 per unit time. The frame rate of the visible light camera 5 is not particularly limited, but is set to several tens Hz. As shown in FIG. 5, the visible light camera 5 repeatedly turns on and off according to a preset frame rate. Since the visible light camera 5 senses light when it is on, the headlamp 3 only needs to emit light when the visible light camera 5 is on. In other words, the headlamp 3 does not have to emit light when the visible light camera 5 is off. Therefore, as shown in FIG. 5, the headlamp controller 11 may synchronize the timing of switching the headlamp 3 on and off with the frame rate of the visible light camera 5 (step S205 shown in FIG. 4). Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3. Note that the timing of switching the headlamp 3 on and off may be expressed as the timing of switching the headlamp 3 on and off. Note that step S207 shown in FIG. 4 is the same as step S105 shown in FIG. 2, and a description thereof will be omitted.
　また、ヘッドランプ制御部１１は、車両の周囲の状況に基づいてヘッドランプ３の照射量をさらに低減させてもよい。この点について図６を用いて説明する。 The headlamp controller 11 may further reduce the irradiation amount of the headlamp 3 based on a situation around the vehicle. This will be described with reference to FIG.
　図６に示すステップＳ３０１は、図２に示すステップＳ１０１と同じであるため、説明を省略する。ステップＳ３０３において、ヘッドランプ制御部１１は、可視光カメラ５または車両に搭載される照度センサ（図示せず）から取得した情報に基づいて、車両の周囲の照度を取得する。車両の周囲に存在する道路照明灯が多いほど、車両の周囲の照度は大きい。また、車両の周囲に存在する他車両が多いほど、車両の周囲の照度は大きい。車両の周囲の照度が大きい場合、自動運転ＥＣＵ７は、車両の周囲の光を障害物の検出に利用しうる。このため、ヘッドランプ制御部１１は、車両の周囲の照度が大きい場合は小さい場合に比べて、自動運転モード時の照射量をさらに低減させてもよい。これにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射に係るエネルギーをより一層抑制できる。 Step S301 shown in FIG. 6 is the same as step S101 shown in FIG. In step S303, the headlamp control unit 11 acquires the illuminance around the vehicle based on information acquired from the visible light camera 5 or an illuminance sensor (not shown) mounted on the vehicle. The illuminance around the vehicle increases as the number of road lights around the vehicle increases. Further, the more other vehicles exist around the vehicle, the greater the illuminance around the vehicle. When the illuminance around the vehicle is large, the automatic driving ECU 7 can use the light around the vehicle to detect an obstacle. For this reason, the headlamp control unit 11 may further reduce the irradiation amount in the automatic driving mode when the illuminance around the vehicle is large compared to when the illuminance is small. Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3.
　また、ステップＳ３０５に示すように、ヘッドランプ制御部１１は、車両の周囲の照度が大きい場合は小さい場合に比べて、ヘッドランプ３の照射範囲を小さくしてもよい。例えば、道路照明灯が車両の上方の標識を照らしている時は、ヘッドランプ３はこの標識を照らさなくてもよい。このようにヘッドランプ制御部１１はヘッドランプ３の照射範囲を小さくすることにより、ヘッドランプ３の照射に係るエネルギーをより一層抑制できる。 As shown in step S305, the headlamp control unit 11 may reduce the irradiation range of the headlamp 3 when the illuminance around the vehicle is large compared to when the illuminance is small. For example, when the road light is illuminating a sign above the vehicle, the headlamp 3 need not illuminate this sign. As described above, the headlamp controller 11 can further reduce the energy related to the irradiation of the headlamp 3 by reducing the irradiation range of the headlamp 3.
　なお、ステップＳ３０７において、手動運転モード時、ヘッドランプ制御部１１は、車両の周囲の照度に応じてヘッドランプ３を制御してもよい。車両の周囲の照度には、標識の特性（色、反射率など）が含まれる。ステップＳ３０９において、ヘッドランプ制御部１１は標識の特性（色、反射率など）に応じて、ヘッドランプ３の照射範囲を大きくしてもよい。また、ヘッドランプ制御部１１はヘッドランプ３の照射範囲を大きくする際、ヘッドランプ３の照射量を増加させてもよい。これにより、ヘッドランプ制御部１１は運転者にとって最適な照射範囲及び照射量を提供しうる。 In step S307, in the manual driving mode, the headlamp control unit 11 may control the headlamp 3 according to the illuminance around the vehicle. The illuminance around the vehicle includes the characteristics (color, reflectance, etc.) of the sign. In step S309, the headlamp controller 11 may increase the irradiation range of the headlamp 3 according to the characteristics (color, reflectance, etc.) of the sign. The headlamp controller 11 may increase the irradiation amount of the headlamp 3 when increasing the irradiation range of the headlamp 3. Accordingly, the headlamp control unit 11 can provide an optimum irradiation range and irradiation amount for the driver.
　また、ヘッドランプ制御部１１は、自動運転モードにおける失陥の有無に応じて、ヘッドランプ３の照射量を制御してもよい。この点について図７~図１０を用いて説明する。 The headlamp control unit 11 may control the irradiation amount of the headlamp 3 according to whether or not there is a failure in the automatic operation mode. This will be described with reference to FIGS.
　図７に示すステップＳ４０１、４０３、及び４０９は、図２に示すステップＳ１０１、１０３、及び１０５と同じであるため、説明を省略する。ステップＳ４０５において、ヘッドランプ制御部１１は、自動運転モードにおける失陥の有無を検出する。自動運転モードにおいて失陥があるとは、自動運転が正常に実行されていない状態をいう。自動運転モードにおける失陥が検出された場合（ステップＳ４０５でＹｅｓ）、処理はステップＳ４０７に進み、自動運転モードから手動運転モードへ移行が行われる。この移行は、例えば、「自動運転にエラーが発生しました。手動運転に切り替えてください。」と音声で案内されてもよい。このような案内は、移行に必要な時間を考慮して行われる。図８に示す時刻Ｔ３において、ヘッドランプ制御部１１が、自動運転モードにおける失陥を検出した場合、警告（移行）が案内され、ヘッドランプ制御部１１は、自動運転モードから手動運転モードへ移行が完了するまでの間（時刻Ｔ３~Ｔ４の間）の照射量を自動運転モード時（時刻Ｔ２~Ｔ３の間）の照射量より大きくする。図８に示す例では、ヘッドランプ制御部１１は自動運転モードから手動運転モードへ移行が完了するまで、照射量を手動運転モード時の照射量と同じにする。これにより、運転者は、自動運転モードから手動運転モードへ移行が完了するまでの間、車両の周囲の状況を正確に把握しうる。なお、図８に示す時刻Ｔ１及びＴ２における動作例は、図３に示す動作例と同じであるため、説明を省略する。なお、時刻Ｔ４以降において、自動運転モードにおける失陥が解消されるまで、例えば、「販売店で点検してください」などの警告がディスプレイに表示されてもよい。 Steps S401, 403, and 409 shown in FIG. 7 are the same as steps S101, 103, and 105 shown in FIG. In step S405, the headlamp control unit 11 detects whether there is a failure in the automatic operation mode. Failure in the automatic operation mode refers to a state in which automatic operation is not normally performed. When a failure in the automatic operation mode is detected (Yes in step S405), the process proceeds to step S407, and a transition from the automatic operation mode to the manual operation mode is performed. This transition may be announced by voice, for example, "An error has occurred in automatic operation. Please switch to manual operation." Such guidance is performed in consideration of the time required for the transition. At time T3 shown in FIG. 8, when the headlamp control unit 11 detects a failure in the automatic operation mode, a warning (transition) is provided, and the headlamp control unit 11 transitions from the automatic operation mode to the manual operation mode. Until the operation is completed (between times T3 and T4) is made larger than the irradiation amount during the automatic operation mode (between times T2 and T3). In the example shown in FIG. 8, the headlamp controller 11 sets the irradiation amount to be the same as the irradiation amount in the manual operation mode until the transition from the automatic operation mode to the manual operation mode is completed. Thus, the driver can accurately grasp the situation around the vehicle until the transition from the automatic driving mode to the manual driving mode is completed. Note that the operation example at times T1 and T2 shown in FIG. 8 is the same as the operation example shown in FIG. In addition, after time T4, a warning such as "Please check at a dealer" may be displayed on the display until the failure in the automatic driving mode is resolved.
　なお、図８に示す例では、ヘッドランプ制御部１１は自動運転モードから手動運転モードへ移行が完了するまで、照射量を手動運転モード時の照射量と同じにしたが、これに限定されない。例えば、図９に示すように、ヘッドランプ制御部１１は自動運転モードから手動運転モードへ移行が完了するまで、照射量を自動運転モード時の照射量より大きくすればよい。この場合、ヘッドランプ制御部１１は自動運転モードから手動運転モードへの移行が完了した時（時刻Ｔ４）の照射量を手動運転モード時の照射量と同じにすればよい。移行が行われている間、急にヘッドランプ３の照射量が増加すると、運転者はまぶしく感じる場合がある。そこで、図９に示すように２段階で照射量が増加することにより、運転者が感じる違和感は低減されうる。 In the example shown in FIG. 8, the headlamp controller 11 sets the irradiation amount to the same as the irradiation amount in the manual operation mode until the transition from the automatic operation mode to the manual operation mode is completed, but the invention is not limited to this. For example, as shown in FIG. 9, the headlamp controller 11 may set the irradiation amount to be larger than the irradiation amount in the automatic operation mode until the transition from the automatic operation mode to the manual operation mode is completed. In this case, the headlamp controller 11 may set the irradiation amount when the transition from the automatic operation mode to the manual operation mode is completed (time T4) to be the same as the irradiation amount in the manual operation mode. If the irradiation amount of the headlamp 3 suddenly increases during the transition, the driver may feel dazzling. Therefore, as shown in FIG. 9, by increasing the irradiation amount in two stages, the uncomfortable feeling felt by the driver can be reduced.
　また、図１０に示すように、ヘッドランプ制御部１１は自動運転モードから手動運転モードへ移行が完了するまでの間の照射量を徐々に増加させてもよい。この場合も、図９と同様に、ヘッドランプ制御部１１は自動運転モードから手動運転モードへの移行が完了した時（時刻Ｔ４）の照射量を手動運転モード時の照射量と同じにすればよい。 As shown in FIG. 10, the headlamp control unit 11 may gradually increase the irradiation amount until the transition from the automatic operation mode to the manual operation mode is completed. In this case as well, as in FIG. 9, the headlamp controller 11 sets the irradiation amount at the time when the transition from the automatic operation mode to the manual operation mode is completed (time T4) to be the same as the irradiation amount in the manual operation mode. Good.
　また、ヘッドランプ制御部１１は、先行車両が大型車両か否かに応じて、ヘッドランプ３の照射量を制御してもよい。この点について図１１を用いて説明する。 The headlamp controller 11 may control the irradiation amount of the headlamp 3 according to whether the preceding vehicle is a large vehicle. This will be described with reference to FIG.
　図１１に示すステップＳ５０１、５０９、及び５１１は、図２に示すステップＳ１０１、１０３、及び１０５と同じであるため、説明を省略する。ステップＳ５０３において、ヘッドランプ制御部１１は、可視光カメラ５またはセンサ群から取得した情報に基づいて、車両の前方を走行する先行車両が存在するか否かを判定する。先行車両が存在する場合（ステップＳ５０３でＹｅｓ）、処理はステップＳ５０５に進む。一方、先行車両が存在しない場合（ステップＳ５０３でＮｏ）、処理はステップＳ５０９に進む。ステップＳ５０５において、ヘッドランプ制御部１１は、先行車両が大型車両（例えばトラック）か否かを判定する。先行車両が大型車両でない場合（ステップＳ５０５でＮｏ）、処理はステップＳ５０９に進み、ヘッドランプ制御部１１はヘッドランプ３の照射量を低減させる。先行車両が大型車両でないとうことは、先行車両が普通自動車であることを意味する。ヘッドランプ制御部１１がヘッドランプ３の照射量を低減させる理由は、先行車両の運転者がまぶしさを感じないようにするためである。先行車両が大型車両である場合（ステップＳ５０５でＹｅｓ）、処理はステップＳ５０７に進み、自動運転ＥＣＵ７は車間距離をあける。 Steps S501, 509, and 511 shown in FIG. 11 are the same as steps S101, 103, and 105 shown in FIG. In step S503, the headlamp control unit 11 determines whether or not there is a preceding vehicle traveling ahead of the vehicle based on information acquired from the visible light camera 5 or the sensor group. If there is a preceding vehicle (Yes in step S503), the process proceeds to step S505. On the other hand, when there is no preceding vehicle (No in step S503), the process proceeds to step S509. In step S505, the headlamp control unit 11 determines whether the preceding vehicle is a large vehicle (for example, a truck). If the preceding vehicle is not a large vehicle (No in step S505), the process proceeds to step S509, and the headlamp control unit 11 reduces the irradiation amount of the headlamp 3. The fact that the preceding vehicle is not a large vehicle means that the preceding vehicle is a normal vehicle. The reason why the headlamp controller 11 reduces the irradiation amount of the headlamp 3 is to prevent the driver of the preceding vehicle from feeling glare. If the preceding vehicle is a large vehicle (Yes in step S505), the process proceeds to step S507, and the automatic driving ECU 7 increases the inter-vehicle distance.
　以上説明したように本実施形態に係るヘッドランプ制御装置１によれば、以下の作用効果が得られる。 As described above, according to the headlamp control device 1 according to the present embodiment, the following operational effects can be obtained.
　本実施形態における車両は、車両の周囲を撮像する可視光カメラ５により取得された画像に基づき運転される自動運転モードと、車両の運転者によって運転される手動運転モードとを有する。可視光カメラ５の光に対する感度は、人間の目の光に対する感度より高いため、自動運転モード時のヘッドランプ３の照射量を手動運転モード時のヘッドランプ３の照射量に合わせた場合、自動運転モード時に不要なエネルギーが消費されてしまう。そこで、ヘッドランプ制御部１１は、自動運転モード時のヘッドランプ３の照射量を手動運転モード時のヘッドランプ３の照射量より低減させる。これにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射量を抑制できる。換言すれば、ヘッドランプ制御部１１は、自動運転モードにおいてヘッドランプ３の照射に係るエネルギーを抑制できる。 The vehicle according to the present embodiment has an automatic driving mode that is driven based on an image obtained by the visible light camera 5 that captures an image around the vehicle, and a manual driving mode that is driven by a driver of the vehicle. Since the sensitivity of the visible light camera 5 to light is higher than the sensitivity of human eyes to light, when the irradiation amount of the headlamp 3 in the automatic operation mode is adjusted to the irradiation amount of the headlamp 3 in the manual operation mode, Unnecessary energy is consumed in the operation mode. Therefore, the headlamp control unit 11 reduces the irradiation amount of the headlamp 3 in the automatic operation mode from the irradiation amount of the headlamp 3 in the manual operation mode. Thereby, the headlamp controller 11 can suppress the irradiation amount of the headlamp 3. In other words, the headlamp control unit 11 can suppress the energy related to the irradiation of the headlamp 3 in the automatic operation mode.
　また、ヘッドランプ制御部１１は、自動運転モードにおける失陥の有無を検出してもよい。自動運転モードにおける失陥が検出された時、ヘッドランプ制御部１１は、自動運転モードから手動運転モードへ移行が完了するまで、照射量を自動運転モード時の照射量より大きくしてもよい。移行が行われている間、急にヘッドランプ３の照射量が増加すると、運転者はまぶしく感じる場合がある。そこで、このような照射量の制御が行われることにより、運転者が感じる違和感は低減されうる。さらに運転者は、自動運転モードから手動運転モードへの移行が完了した時に、車両の周囲の状況を正確に把握しうる。 The headlamp controller 11 may detect whether there is a failure in the automatic operation mode. When a failure in the automatic operation mode is detected, the headlamp controller 11 may increase the irradiation amount from the automatic operation mode until the transition from the automatic operation mode to the manual operation mode is completed. If the irradiation amount of the headlamp 3 suddenly increases during the transition, the driver may feel dazzling. Therefore, by performing such control of the irradiation amount, the uncomfortable feeling felt by the driver can be reduced. Further, the driver can accurately grasp the situation around the vehicle when the transition from the automatic driving mode to the manual driving mode is completed.
　また、ヘッドランプ制御部１１は、ヘッドランプ３のオンオフを可視光カメラ５のフレームレートに同期させてもよい。可視光カメラ５は、予め設定されたフレームレートにしたがってオンとオフを繰り返す。可視光カメラ５はオン状態のときに光を感知するため、可視光カメラ５がオン状態のときにヘッドランプ３は光を照射すればよい。これにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射に係るエネルギーをより一層抑制できる。 The headlamp control unit 11 may synchronize the on / off of the headlamp 3 with the frame rate of the visible light camera 5. The visible light camera 5 repeats on and off according to a preset frame rate. Since the visible light camera 5 senses light when it is on, the headlamp 3 only needs to emit light when the visible light camera 5 is on. Thereby, the headlamp controller 11 can further suppress the energy related to the irradiation of the headlamp 3.
　また、ヘッドランプ制御部１１は、車両の周囲の照度が大きい場合は小さい場合に比べて、ヘッドランプ３の照射量を低減させてもよい。車両の周囲の照度が大きい場合、自動運転ＥＣＵ７は、車両の周囲の光を障害物の検出に利用しうるため、このような照射量の制御が行われることにより、ヘッドランプ制御部１１は、ヘッドランプ３の照射に係るエネルギーをより一層抑制できる。 The headlamp controller 11 may reduce the irradiation amount of the headlamp 3 when the illuminance around the vehicle is large as compared to when the illuminance is small. When the illuminance around the vehicle is large, the automatic driving ECU 7 can use the light around the vehicle to detect an obstacle. Therefore, by performing such irradiation amount control, the headlamp control unit 11 Energy related to irradiation of the headlamp 3 can be further suppressed.
　上述の実施形態に記載される各機能は、１または複数の処理回路により実装され得る。処理回路は、電気回路を含む処理装置などのプログラムされた処理装置を含む。処理回路は、また、記載された機能を実行するようにアレンジされた特定用途向け集積回路（ＡＳＩＣ）や回路部品などの装置を含む。また、ヘッドランプ制御装置１は、コンピュータの機能を改善しうる。 Each function described in the above embodiment can be implemented by one or a plurality of processing circuits. The processing circuit includes a programmed processing device, such as a processing device that includes an electrical circuit. Processing circuitry also includes devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Further, the headlamp control device 1 can improve the function of the computer.
　上記のように、本発明の実施形態を記載したが、この開示の一部をなす論述及び図面はこの発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。 As described above, the embodiments of the present invention have been described. However, it should not be understood that the description and drawings constituting a part of the present disclosure limit the present invention. From this disclosure, various alternative embodiments, examples, and operation techniques will be apparent to those skilled in the art.
　上述した自動運転モードに必要な照射範囲は、自動運転モードを実行するときに安全確認を行う必要がある範囲に存在する障害物を検出可能な照射範囲であってもよい。例えば、自動運転モードに必要な照射範囲は、ロービームの照射範囲よりも広い照射範囲に設定され、ハイビームと同じ照射範囲に設定されてもよい。ロービームでは、照射範囲が下方になるため、歩行者またはその他の障害物に光が十分に照射されず、自動運転モードを行うために必要な障害物の検出を十分に行うことができないおそれがあるためである。 The irradiation range required for the automatic operation mode described above may be an irradiation range that can detect an obstacle existing in a range where safety confirmation needs to be performed when executing the automatic operation mode. For example, the irradiation range required for the automatic operation mode may be set to be wider than the irradiation range of the low beam, and may be set to the same irradiation range as the high beam. In the low beam, since the irradiation range is downward, light may not be sufficiently irradiated on the pedestrian or other obstacles, and it may not be possible to sufficiently detect obstacles required for performing the automatic driving mode. That's why.
１　ヘッドランプ制御装置
３　ヘッドランプ
５　可視光カメラ
７　自動運転ＥＣＵ
９　ヒューマンインターフェース
１１　ヘッドランプ制御部
１００　ヘッドランプ制御システム DESCRIPTION OF SYMBOLS 1 Headlamp control device 3 Headlamp 5 Visible light camera 7 Automatic driving ECU
9 Human interface 11 Headlamp control unit 100 Headlamp control system

Claims (5)

  1. 　車両の周囲を撮像する可視光カメラにより取得された画像に基づき運転される自動運転モードと、前記車両の運転者によって運転される手動運転モードとを有する車両に搭載される、照射量を調整可能なヘッドランプを制御するヘッドランプ制御方法であって、
    　前記自動運転モード時の前記ヘッドランプの照射量を、前記手動運転モード時の前記ヘッドランプの照射量より低減させる
    ことを特徴とするヘッドランプ制御方法。     The irradiation amount can be adjusted, which is mounted on a vehicle having an automatic driving mode driven based on an image acquired by a visible light camera that captures an image around the vehicle and a manual driving mode driven by a driver of the vehicle. A headlamp control method for controlling a headlamp,
    A headlamp control method, wherein the irradiation amount of the headlamp in the automatic operation mode is made smaller than the irradiation amount of the headlamp in the manual operation mode.
  2. 　前記自動運転モードにおける失陥が検出された時、前記自動運転モードから前記手動運転モードへ移行が完了するまで前記照射量を前記自動運転モード時の前記照射量より大きくする
    ことを特徴とする請求項１に記載のヘッドランプ制御方法。     When a failure in the automatic operation mode is detected, the irradiation amount is made larger than the irradiation amount in the automatic operation mode until the transition from the automatic operation mode to the manual operation mode is completed. Item 2. The headlamp control method according to Item 1.
  3. 　前記ヘッドランプのオンオフを前記可視光カメラのフレームレートに同期させる
    ことを特徴とする請求項１または２に記載のヘッドランプ制御方法。     3. The headlamp control method according to claim 1, wherein on / off of the headlamp is synchronized with a frame rate of the visible light camera.
  4. 　前記車両の周囲の照度が大きい場合は小さい場合に比べて、前記自動運転モード時の前記照射量を低減させる
    ことを特徴とする請求項１~３のいずれか１項に記載のヘッドランプ制御方法。     4. The headlamp control method according to claim 1, wherein the irradiation amount in the automatic driving mode is reduced when the illuminance around the vehicle is large, as compared with when the illuminance around the vehicle is small. .
  5. 　車両の周囲を撮像する可視光カメラにより取得された画像に基づき運転される自動運転モードと、前記車両の運転者によって運転される手動運転モードとを有する車両に搭載される、照射量を調整可能なヘッドランプを制御する制御部を有するヘッドランプ制御装置であって、
    　前記制御部は、
    　前記自動運転モード時の前記ヘッドランプの照射量を、前記手動運転モード時の前記ヘッドランプの照射量より低減させる
    ことを特徴とするヘッドランプ制御装置。     The irradiation amount can be adjusted, which is mounted on a vehicle having an automatic driving mode driven based on an image acquired by a visible light camera that captures an image around the vehicle and a manual driving mode driven by a driver of the vehicle. A headlamp control device having a control unit for controlling a simple headlamp,
    The control unit includes:
    A headlamp control device, wherein the irradiation amount of the headlamp in the automatic operation mode is made smaller than the irradiation amount of the headlamp in the manual operation mode.
PCT/IB2018/001079 2018-08-14 2018-08-14 Headlamp control method and headlamp control device WO2020035713A1 (en)

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